EP0946389B1 - Vorrichtung zum handhaben von gegenständen - Google Patents

Vorrichtung zum handhaben von gegenständen Download PDF

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Publication number
EP0946389B1
EP0946389B1 EP97953898A EP97953898A EP0946389B1 EP 0946389 B1 EP0946389 B1 EP 0946389B1 EP 97953898 A EP97953898 A EP 97953898A EP 97953898 A EP97953898 A EP 97953898A EP 0946389 B1 EP0946389 B1 EP 0946389B1
Authority
EP
European Patent Office
Prior art keywords
levers
plate
conveyor
lever
carriage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP97953898A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0946389A1 (de
Inventor
Heinz Focke
Hanfried C. Kerle
Wolfgang Gropp
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Focke and Co GmbH and Co KG
Original Assignee
Focke and Co GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Focke and Co GmbH and Co KG filed Critical Focke and Co GmbH and Co KG
Publication of EP0946389A1 publication Critical patent/EP0946389A1/de
Application granted granted Critical
Publication of EP0946389B1 publication Critical patent/EP0946389B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only

Definitions

  • the invention relates to a device for handling objects according to the preamble of claim 1.
  • DE-B-1611845 describes a device of the type mentioned at the beginning for packing and unpacking bottles or similar products known on a horizontal Level slidable carrier car a thrust crank mechanism is arranged, which is connected to a cantilever arm Coupling actuated. By moving the carrier car and one on this arranged ride-on carriage can be made of cantilever arm and crank existing unit on a bottle holder frame and move down and sideways.
  • Similar devices are used for handling for example chocolates, coffee bags or the like.
  • the Objects delivered on the feed conveyor should be with the help the device and attached to a packaging for the objects be handed over.
  • the handling of the objects should automatically - i.e. exclusively by machine.
  • the invention has for its object a device to further develop the type mentioned at the outset in such a way that an optimal device in terms of handling options is created to transport objects, which also has sufficient mechanical stability.
  • the device designed in the above sense has a small, simple design. With the help of commercially available The actuator head can be moved quickly by linear drives. The invention Device is therefore for high working speeds suitable. In addition, with the help of a such device the recording head to any position movable in space.
  • the linear drives are preferably on one above the feed conveyor and conveyor arranged, closed frame attached such that the slide of the linear drives transversely to Direction of conveyance of the feed conveyor and discharge conveyor can be moved back and forth are.
  • the frame rests on vertical supports that are on the side run next to the feeder and unloader.
  • the boom consists of two parallel, articulated at their ends stored levers and at least one other lever, the arranged at an angle to the parallel levers is.
  • the parallel levers are on the one hand on a common sled and on the other hand on the recording head articulated attached.
  • the other lever is with one second, independently controllable carriage and the pick-up head articulated.
  • the embodiments of the invention shown in the drawing Devices relate to the preferred field of application the same, namely on the handling of objects delivered to a conveyor. Things are detected by the device according to the invention, by the feed conveyor lifted off and transported towards a conveyor. They are then placed on one of the conveyors Hand packaging for the item. With the objects for example, chocolates or the like.
  • the objects 10 to be handled are fed by a feeder 11 delivered and with the help of the device according to the invention handed over to a conveyor 12.
  • the feed conveyor 11 will also referred to as the product belt, the conveyor 12 as a cardboard belt.
  • On the discharge conveyor 12 there is an open packaging 13 for the objects 10 to be handled positioned. After surrendering the items 10 to the packaging 13 becomes the same a sealing station (not shown) for the packaging 13 transported.
  • Feed conveyor 11 and discharge conveyor 12 are next to each other and in the Height offset from each other.
  • Funding directions from Feed conveyor 11 and discharge conveyor 12, which are in Fig. 3, 4 and 7, 8th are represented by arrows 14, 15, run parallel to each other.
  • the device according to the invention accordingly fulfills the Task, the objects 10 transverse to the conveying directions of Transport conveyor 11 and conveyor 12.
  • Feeder 11 and conveyor 12 are designed as belt conveyors.
  • a boom 16 arranged pick-up head 17 For receiving the objects 10 from the feed conveyor 11 and transporting them the same in the direction of the discharge conveyor 12 is used a boom 16 arranged pick-up head 17. Details regarding the design and storage of the boom 16 or Recording head 17 are intended in the following for the two exemplary embodiments are shown separately.
  • the boom is 16 from several handlebars or levers. Acting with the levers straight poles. Specifically, the 1 to 5 via four links or levers 18, 19, 20, 21. Two levers 18, 19 and 20, 21 form a pair 22, 23 parallel levers. The parallel to each other arranged levers 18, 19 of the first pair 22 are with a first end 24 articulated to a linear drive 25, namely a carriage 26 of the linear drive 25 attached. With a second end 27 opposite the end 24 are the Levers 18, 19 of the pair 22 articulated on the one hand via a plate 28 with each other and over the plate 28 with the recording head 17 connected.
  • the levers 20, 21 of the second pair 23 are in turn with ends 29 on a second, from the first linear drive 25 independently controllable linear drive 30, namely with one Carriage 31 of the same, connected.
  • ends 29 on a second from the first linear drive 25 independently controllable linear drive 30, namely with one Carriage 31 of the same, connected.
  • Ends 32 are levers 20, 21 of pair 23 on the one hand articulated with each other and on the other hand with connected to the recording head 17.
  • To connect the levers 20, 21 serves the plate 28.
  • levers 18, 19 of pair 22 on plate 28 In addition to the levers 20, 21 of the pair 23 also engage levers 18, 19 of pair 22 on plate 28.
  • the levers 18, 19 and 20, 21 of the pairs 22, 23 are accordingly on the ends 27, 32 with each other and with the receiving head 17th connected.
  • the boom 16 described above therefore has a Variety of joints.
  • two first joints 34 are Ends 24 of the levers 18, 19 of the pair 22 on the slide 26 of the linear drive 25 attached. Accordingly, the ends are 29 the levers 20, 21, each with a joint 35 on the slide 31 of the second, independently controllable linear drive 30 attached.
  • the joints assigned to the linear drives 25, 30 34, 35 lie in one plane.
  • ends 24 and 29 opposite ends 27 and 32 are the levers 18, 19 and 20, 21 via joints 36, 37 with each other and with the Recording head 17 connected. Also those assigned to the recording head 17 Joints 36, 37 lie in one plane.
  • the ends 32 the lever 20, 21 associated joints 37 and the end 27th of the lever 19 associated joint 36 engage a common one Page 33 of plate 28.
  • the end 27 of the lever 18th assigned joint 36 is spaced from the side 33 and associated with an opposite side of plate 28. It is also important that the joints 36, 37 are symmetrical are arranged to a longitudinal central axis of the receiving head 17.
  • the joints 37 of the levers 20, 21 are accordingly to the longitudinal central axis of the recording head 17 positioned at the same distance.
  • the joints 36 of the levers 18, 19 also have an equal distance from the longitudinal central axis of the recording head 17. This ensures that a force on the recording head only in the direction of the longitudinal central axis the same is done. So there are a total of eight joints 34..37 provided.
  • Each parallel levers 18, 19 and 20, 21 each Pairs 22, 23 lie in one plane.
  • the levers 18, 19 are in 1, 2 and the levers 20, 21 in the 4, 5. How Fig. 1, 2 are removed these planes form an angle.
  • the levers 20, 21 5 are further mounted in the plate 28, adjacent to pages 33.
  • the linear drives 25, 30 are in height according to offset levels arranged, namely directly one above the other. In an area in which linear drives 25, 30 overlap are the same connected with each other. In addition, the linear drives 25, 30 positioned at 180 ° to each other.
  • the Carriage 26 of the linear drive 25 is accordingly on an underside 38 of the linear drive 25 arranged, the carriage 31 of the Linear drive 30, however, on an upper side 39 of the linear drive 30.
  • Via a laterally, downwardly directed support member 40 are the levers 20, 21 of the pair 23 with the slide 31 of the linear drive 30 connected.
  • the joints 35 are the support member 40 assigned. 5
  • the support member 40 is U-shaped in cross section formed with one above the slide 31 extending base leg 81 and two downward Legs 82, 83. Legs 82, 83 are triangular in shape Layout.
  • the joints 35 are a lower tip of the legs 82, 83 assigned.
  • Fig. 1 shows the boom 16 and the recording head 17 in different positions.
  • the pick-up head 17 is positioned above the feed conveyor 11.
  • the Recording head can be moved back and forth in the horizontal direction.
  • the slides 26, 31 relative to each other that is by changing the relative spacing of the slides 26, 31 the recording head 17 can be raised and lowered in the vertical direction.
  • FIG. 1 shows the pick-up head 17 with semicolon lines in a position above the Ab consumerers 12, opposite the position of the receiving head 17th is lowered above the feed conveyor 11. This will do so achieved that the relative distance between the carriages 26, 31 is reduced. By enlarging the raltive distance of the sled 26, 31 is the recording head can be lifted accordingly. It goes without saying that the above described movements of the recording head 17 in a horizontal and vertical direction can be superimposed. This can be done under other can be achieved in that the carriage 26, 31 the linear drives 25, 30 with different speeds to be moved in the same direction. This changes the relative distance between the slides 26, 31 automatically while moving them horizontally Direction.
  • the arrangement is staggered in height of feed conveyor 11 and discharge conveyor 12 of importance. Due to the downward arrangement of the conveyor 12 against the feed conveyor 11 are namely shorter and thus faster Movements of the recording head 17 possible.
  • the linear drives 25, 30 are above the feed conveyor 11 and conveyor 12 on a common, closed Frame 41 arranged.
  • the frame 41 consists of two elongated, transverse to the conveying direction of the feed conveyor 11 and Abrawers 12 trusses 42, 43 and two the Crossbars 42, 43 connecting bars 44, 45.
  • the linear drives 25, 30 are each with one end 46, 47 on the bars 44, 45 stored and run as well as the trusses 42, 43 transverse to Direction of conveyance of feed conveyor 11 and discharge conveyor 12.
  • the transverse to the conveying direction of the feed conveyor 11 and discharge conveyor 12 The direction of movement of the linear drives 25, 30 is in FIG. 2 indicated by a double arrow 85.
  • As servomotors Trained drive motors 48, 49 of the linear drives 25, 30 are in close proximity to the spars for reasons of stability 44, 45 of the frame 41 positioned.
  • the frame 31 rests on vertical supports 50, 51, 52.
  • Each two supports 50 are between feed conveyor 11 and discharge conveyor 12 arranged, i.e. next to adjacent sides of feed conveyor 11 and conveyor 12 positioned.
  • To the other pages of feed conveyor 11 and discharge conveyor 12 are each the two Supports 51 and 52 arranged.
  • the feed conveyor 11 is accordingly limited laterally by the supports 51, 50 and mounted on these.
  • the discharge conveyor 12 is laterally through the supports 50, 52 limited and also stored on these.
  • the feed conveyor 11 ends in the area of the linear drives 25, 30.
  • the discharge conveyor 12 on the other hand runs continuously through the area of the invention Contraption.
  • the supports are in a lower area 50, 51, 52 connected to stabilize the same by bars 53.
  • the one formed by the frame 41 and the supports 50, 51, 52 Support structure for the linear drives 25, 30 on the one hand and the boom 16 and the receiving head arranged thereon 17 on the other hand rests with feet 54 on a floor, so to Example of a machine shop.
  • the frame 41 protrudes with lateral ends 55, 56 over the supports 50, 51, 52 away. This ensures that despite one small structural design of the recording head 17 optimal in Space can be moved.
  • the receiving head 17 for receiving the objects 10 is preferred trained as a suction device and has two functional separate areas, namely a shaft 57 and one Suction area 58.
  • the shaft 57 connects the suction area 58 to the plate 28 and serves to accommodate supply lines for the suction area 58, namely electrical and / or pneumatic Lines (not shown).
  • the subsequent one Suction area 58 has one or more suction chambers, which can be pressurized with vacuum and as a result of the Detect negative pressure objects 10.
  • the shaft 57 may preferably be designed as a telescopic member. In this case the length of the shaft 57 is adjustable by retracting and extending.
  • the recording head 17, in particular the suction area 58 is rotatable. In this case, an axis of rotation would preferably be one The longitudinal central axis of the shaft 57 coincide.
  • the second exemplary embodiment according to FIGS. 6 to 9 corresponds among other things with regard to the design and arrangement of feed conveyor 11, discharge conveyor 12, pick-up head 17, frame 41 and supports 50..52 the embodiment according to FIGS. 1 to 5. Therefore, the same reference numbers are used for the same modules used. To avoid repetition is therefore considered the design details related to these assemblies referred to the statements made above. differences arise with regard to the design and arrangement of the boom and the linear drives. For this:
  • the boom 16 of the embodiment shown in FIGS. 6 to 9 also from several levers, namely from three levers 59, 60, 61.
  • Two levers 59, 60 run parallel to each other and are articulated at one end 62 thereof with a linear drive 63, namely a carriage 64 of the same.
  • the ends 65 opposite ends 65 are levers 59, 60 on the one hand, articulated with one another via a plate 66 and on the other hand connected to the recording head 17.
  • the further lever 61 is at an angle to the parallel levers 59, 60 arranged and articulated with one end 67 with a second, independently controllable linear drive 68 connected.
  • the Boom 16 of the embodiment according to FIGS. 6 to 9 a lever less than the boom 16 of the embodiment 1 to 5 and accordingly also via a fewer joints.
  • the boom 16 has 6 to 9 about six joints, namely two joints 71 in the area of the carriage 64 of the linear drive 63, two joints 72 in the area of the plate 66 and two ends 67, 69 of the lever 61 associated joints 73, 84, the joint 84 in turn is assigned to the plate 66.
  • the joints 71, 73 assigned to the linear drives 63, 68 are again according to the embodiment of FIGS. 1 to 5 in arranged on one level. The same applies to the recording head 17 or the ends 65, 69 of the levers 59, 60, 61 assigned Joints 72, 84. It is also important that also in the boom 16 of the embodiment according to FIGS. 6 to 9 the joints 72, 84 symmetrical to the longitudinal central axis of the Recording head 17 are arranged.
  • the joints 72 of the parallel mutually extending levers 59, 60 are the same here Distance to the longitudinal central axis of the recording head 17 is arranged.
  • the joint 72 of the lever 59 and the joint 84 of the lever 61 arranged such that both joints 72, 84 to the longitudinal center axis of the receiving head 17 is the same Distance.
  • the joints 72, 84 of the levers 59, 61 the opposite ends of the side 70 of the plate 66 assigned. Due to the symmetrical arrangement of the joints 72, 84 the lever 59, 60, 61 is in turn achieved that a force on the recording head only in the direction of the Longitudinal central axis of the recording head 17 takes place.
  • the arms 59, 60 of the boom running parallel to one another 16 in turn form a parallelogram linkage.
  • the levers 59, 60 running parallel to one another pivoted to each other such that the distance between the levers 59, 60 changes. This ensures that the Recording head 17 back and forth on the one hand in the horizontal direction movable and on the other hand up and in the vertical direction is designed to be movable.
  • the linear drives 63, 68 are different from the exemplary embodiment 1 to 5 in the embodiment of FIG. 6 to 9 not one above the other, but arranged next to each other.
  • the linear drives 63, 68 therefore run in a horizontal Level.
  • the carriages 64, 74 of the linear drives 63, 68 are accordingly both on undersides 75, 76 of the linear drives 63, 68 appropriate.
  • the embodiment according to FIGS. 6 to 9 has compared 1 to 5 about the advantage that the levers 59, 61 of the boom 16 only at ends 77, 78 the side 70 of the plate 66, a central area 79 the same, however, remains free.
  • the central area 79 serves in this case the connection of a flexible hose 80, with With the help of electrical supply lines and / or pneumatic Supply lines in the area of the receiving head 17 or the shaft 57 can be performed.
EP97953898A 1996-12-23 1997-12-20 Vorrichtung zum handhaben von gegenständen Expired - Lifetime EP0946389B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19654041A DE19654041A1 (de) 1996-12-23 1996-12-23 Vorrichtung zum Handhaben von Gegenständen
DE19654041 1996-12-23
PCT/EP1997/007222 WO1998028190A1 (de) 1996-12-23 1997-12-20 Vorrichtung zum handhaben von gegenständen

Publications (2)

Publication Number Publication Date
EP0946389A1 EP0946389A1 (de) 1999-10-06
EP0946389B1 true EP0946389B1 (de) 2001-07-25

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP97953898A Expired - Lifetime EP0946389B1 (de) 1996-12-23 1997-12-20 Vorrichtung zum handhaben von gegenständen

Country Status (9)

Country Link
US (1) US6325591B1 (es)
EP (1) EP0946389B1 (es)
JP (1) JP2001506955A (es)
CN (1) CN1165451C (es)
BR (1) BR9714068A (es)
CA (1) CA2275718C (es)
DE (2) DE19654041A1 (es)
ES (1) ES2159157T3 (es)
WO (1) WO1998028190A1 (es)

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DE102013206125A1 (de) 2013-04-08 2014-10-09 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Umgang mit Artikeln

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Publication number Priority date Publication date Assignee Title
CN102774658A (zh) * 2012-07-09 2012-11-14 山东建筑大学 一种圆盘型环保餐具自动拾取码垛设备
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CA2275718A1 (en) 1998-07-02
CN1165451C (zh) 2004-09-08
ES2159157T3 (es) 2001-09-16
CN1241976A (zh) 2000-01-19
BR9714068A (pt) 2000-05-09
CA2275718C (en) 2005-07-26
DE19654041A1 (de) 1998-06-25
WO1998028190A1 (de) 1998-07-02
EP0946389A1 (de) 1999-10-06
US6325591B1 (en) 2001-12-04
JP2001506955A (ja) 2001-05-29

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